To raise usefulness of a vehicle control system by increasing a range in development to reach to avoidance or alarm by changing automatic constant speed travel control by a driver state, raising effectiveness of driver state determination control using probability of driver state determination in advance, and combining both.

In order to achieve this, the vehicle control system includes: an automatic constant speed traveling control system equipped with a radar and an auto-cruise control device which can perform constant speed traveling control, following traveling control, automatic constant speed traveling control and collision avoidance control; and a driver state determination system. The control device sets a second threshold other than a first threshold by the driver state determination system, performs approach degree determination control, and emits an advance notice and warning when determining that it is a case approaching an obstacle rather than a first setting inter-vehicle distance and before the warning control emits an approach alarm, and there is a careless condition by determination based on a comparison result of a time proportion in prescribed time of a characteristic value for the driver state determination, and more than the second threshold.